Related papers: Adaptive Smoothing for Trajectory Reconstruction
Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Trajectory recovery based on the snapshots from the city-wide multi-camera network facilitates urban mobility sensing and driveway optimization. The state-of-the-art solutions devoted to such a vision-based scheme typically incorporate…
We present a new optimization-theoretic approach to analyzing Follow-the-Leader style algorithms, particularly in the setting where perturbations are used as a tool for regularization. We show that adding a strongly convex penalty function…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…
We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Learning dynamical systems from sparse observations is critical in numerous fields, including biology, finance, and physics. Even if tackling such problems is standard in general information fusion, it remains challenging for contemporary…
Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…
In this paper we study the reconstruction of moving object densities from undersampled dynamic X-ray tomography in two dimensions. A particular motivation of this study is to use realistic measurement protocols for practical applications,…
We propose a novel B-spline trajectory optimization method for autonomous racing. We consider the unavailability of sophisticated race car and race track dynamics in early-stage autonomous motorsports development and derive methods that…
Modeling complex rigid motion across large spatiotemporal spans remains an unresolved challenge in dynamic reconstruction. Existing paradigms are mainly confined to short-term, small-scale deformation and offer limited consideration for…
Multi-azimuth walkaway vertical seismic profiling (VSP) is an established technique for the estimation of in situ slowness surfaces and inferring anisotropy parameters. Normally, this the technique requires the assumption of lateral…
This paper introduces a novel approach to robust surface reconstruction from photometric stereo normal vector maps that is particularly well-suited for reconstructing surfaces from noisy gradients. Specifically, we propose an adaptive…
Reconstruction of geometry based on different input modes, such as images or point clouds, has been instrumental in the development of computer aided design and computer graphics. Optimal implementations of these applications have…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
This paper addresses the problem of reconstructing the motion trajectories of the individuals in a large collection of flying objects using two temporally synchronized and geometrically calibrated cameras. The 3D trajectory reconstruction…
Unlike static documents, version controlled documents are continuously edited by one or more authors. Such collaborative revision process makes traditional modeling and visualization techniques inappropriate. In this paper we propose a new…